Manual Backport Route Server to Jazzy

[SteveMacenski]

Manual backport of Route Serve to Jazzy due to complexity of the backport involving nav2_ros_common and other API/ABI changes.

Excludes the simple commander API due to ABI/API breaking changes

[codecov]

Codecov Report

❌ Patch coverage is 91.77083% with 158 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_route/src/goal_intent_extractor.cpp	76.38%	34 Missing ⚠️
nav2_route/src/route_tracker.cpp	68.68%	31 Missing ⚠️
.../plugins/action/compute_and_track_route_action.cpp	71.26%	25 Missing ⚠️
nav2_route/src/route_server.cpp	90.76%	18 Missing ⚠️
nav2_route/include/nav2_route/corner_smoothing.hpp	65.95%	16 Missing ⚠️
...avior_tree/plugins/action/compute_route_action.cpp	78.57%	9 Missing ⚠️
nav2_route/src/path_converter.cpp	92.30%	5 Missing ⚠️
...lude/nav2_route/plugins/route_operation_client.hpp	92.30%	4 Missing ⚠️
nav2_route/src/graph_saver.cpp	92.00%	4 Missing ⚠️
...ins/graph_file_savers/geojson_graph_file_saver.cpp	95.91%	4 Missing ⚠️
... and 6 more

Files with missing lines	Coverage Δ
.../plugins/action/compute_and_track_route_action.hpp	100.00% <100.00%> (ø)
...ins/action/compute_and_track_route_cancel_node.hpp	100.00% <100.00%> (ø)
...avior_tree/plugins/action/compute_route_action.hpp	100.00% <100.00%> (ø)
nav2_core/include/nav2_core/route_exceptions.hpp	100.00% <100.00%> (ø)
nav2_route/include/nav2_route/edge_scorer.hpp	100.00% <100.00%> (ø)
...route/include/nav2_route/goal_intent_extractor.hpp	100.00% <100.00%> (ø)
...v2_route/include/nav2_route/goal_intent_search.hpp	100.00% <100.00%> (ø)
nav2_route/include/nav2_route/graph_loader.hpp	100.00% <100.00%> (ø)
nav2_route/include/nav2_route/graph_saver.hpp	100.00% <100.00%> (ø)
...clude/nav2_route/interfaces/edge_cost_function.hpp	100.00% <100.00%> (ø)
... and 55 more

... and 5 files with indirect coverage changes

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[k-okada]

@SteveMacenski Hi
I am testing

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False 

and get following message when trying to set Nav2Goal.
Removing
route_server from
https://github.com/ros-navigation/navigation2/pull/5517/files#diff-8773725b95ea1d1d37eb7c3113851d22dd832977896cbefcc217f7a1cfaaadb2R47
fixed the problem.

Can you confirm this problem?

[component_container_isolated-8] [INFO] [1760924710.205381963] [lifecycle_manager_navigation]: Waiting for service route_server/get_state... [component_container_isolated-8] [INFO] [1760924712.205774536] 
[lifecycle_manager_navigation]: Waiting for service route_server/get_state... [component_container_isolated-8] [INFO] [1760924714.206167336] [lifecycle_manager_navigation]: Waiting for service route_server/get_state... 
[component_container_isolated-8] [INFO] [1760924716.206563126] [lifecycle_manager_navigation]: Waiting for service route_server/get_state... [component_container_isolated-8] [INFO]

[SteveMacenski]

I can't seem to reproduce in a docker container for either the binaries nor the source branch. It seems to work correctly for me. Did you clean your workspace and rebuild from scratch?

[k-okada]

I'm using deb and it was walking two weeks ago. After I ran 'apt dist-upgrade', then it happend. please check all package version and log at https://gist.github.com/k-okada/68e86ed1a91fc3844bb823e81bad51d2

[k-okada]

@SteveMacenski whcih docker file are you using? how to setup the ros2 environment?

[SteveMacenski]

I used a base ROS 2 docker image that I apt update/upgraded. Then for one I installed Nav2 binaries and worked. The other, I rosdep installed Nav2 dependencies and did a clean build in a new workspace of the jazzy branch -- and also worked

[miccol]

I am having the same issue after an upgrade to the latest release

[SteveMacenski]

How is your system setup and Nav2 built/installed? The jazzy CI is passing and I can't reproduce in docker both in source or binaries so I'm not sure how to help if I can't reproduce the issue. It seems like the objective measures we have seem to think this works fine, but I'm interested to understand what situation you're in that could cause a problem. Are you mixing source builds with binaries? Any customizations? Do you see that the route server is launched?

[SteveMacenski]

@k-okada @miccol See #5634.

apt install ros-jazzy-nav2-route. Its just missing from the navigation2 metapackage package.xml. Thats probably why you see it and I don't. I don't do apt install ros-jazzy-navigation2. I do apt install ros-jazzy-nav2* since I want to pull in more than just navigation2 but also the bringup and TB3/4 sim packages. That would make it so you didn't actually get that package. I'm fixing it in #5639 for a binary release today. However this is an easy fix to just install it on your system while that soaks

[miccol]

@SteveMacenski that worked for me, thanks!

[k-okada]

thank you!!!